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3d-object-modelling-industrial-automated-robotic-hand.html
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<!-- FCT NOVA | FCT-UNL (Faculty of Sciences and Technology of New University of Lisbon) -->
<!-- Integrated Master (BSc./MSc.) of Computer Engineering -->
<!-- Computer Graphics and Interfaces (2016-2017) -->
<!-- Lab Work 3 - 3D Object Modelling - Industrial Automated Robotic Hand -->
<!-- Daniel Filipe Pimenta - no. 45404 - d.pimenta@campus.fct.unl.pt -->
<!-- Ruben André Barreiro - no. 42648 - r.barreiro@campus.fct.unl.pt -->
<!DOCTYPE html>
<html>
<meta charset="UTF-8">
<head>
<link rel="shortcut icon" type="image/x-icon" href="https://github.com/raw/rubenandrebarreiro/rubenandrebarreiro.github.io/master/assets/images/javascript-logo-1.png"/>
<script id="vertex-shader-2" type="x-shader/x-vertex">
const vec4 lightPosition = vec4(0.0, 0.0, 10.0, 1.0); // in WC
attribute vec4 vPosition; // vertex position in modelling coordinates
attribute vec4 vNormal; // vertex normal in modelling coordinates
uniform mat4 mView; // view transformation matrix (for points)
uniform mat4 mViewVectors; // view transformation matrix (for vectors)
uniform mat4 mModelView; // model-view transformation (for points)
uniform mat4 mNormals; // model-view transformation (for vectors/normals)
uniform mat4 mProjection; // projection matrix
varying vec3 fNormal; // normal vector in camera space (to be interpolated)
varying vec3 fLight;
varying vec3 fViewer;
void main(){
// compute position in camera frame
vec3 posC = (mModelView * vPosition).xyz;
// compute normal in camera frame
fNormal = (mNormals * vNormal).xyz;
// compute light vector in camera frame
if(lightPosition.w == 0.0)
fLight = normalize((mViewVectors * lightPosition).xyz);
else
fLight = normalize((mView*lightPosition).xyz - posC);
// Compute the view vector
// fViewer = -fPosition; // Perspective projection
fViewer = vec3(0,0,1); // Parallel projection only
// Compute vertex position in clip coordinates (as usual)
gl_Position = mProjection * mModelView * vPosition;
// make correction for left handed system of clip space
//gl_Position.z = -gl_Position.z;
}
</script>
<script id="fragment-shader-2" type="x-shader/x-fragment">
precision mediump float;
varying vec3 fPosition;
varying vec3 fNormal;
uniform vec3 color;
const float shininess = 60.0;
const vec3 lightAmb = vec3(0.2, 0.2, 0.2);
const vec3 lightDif = vec3(0.5, 0.5, 0.5);
const vec3 lightSpe = vec3(1.0, 1.0, 1.0);
vec3 ambientColor = lightAmb * color;
vec3 diffuseColor = lightDif * color;
vec3 specularColor = lightSpe * vec3(1.0, 1.0, 1.0);
varying vec3 fLight;
varying vec3 fViewer;
void main() {
vec3 L = normalize(fLight);
vec3 V = normalize(fViewer);
vec3 N = normalize(fNormal);
// Compute the halfway vector for Phong-Blinn model
vec3 H = normalize(L+V);
// compute diffuse reflection, don't let the vertex be illuminated from behind...
float diffuseFactor = max( dot(L,N), 0.0 );
vec3 diffuse = diffuseFactor * diffuseColor;
// compute specular reflection
float specularFactor = pow(max(dot(N,H), 0.0), shininess);
vec3 specular = specularFactor * specularColor;
// specular reflection should be 0 if normal is pointing away from light source
if( dot(L,N) < 0.0 ) {
specular = vec3(0.0, 0.0, 0.0);
}
// add all 3 components from the illumination model (ambient, diffuse and specular)
gl_FragColor = vec4(ambientColor + diffuse + specular, 1.0);
}
</script>
<script type="text/javascript" src="common/webgl-utils.js"></script>
<script type="text/javascript" src="common/initShaders.js"></script>
<script type="text/javascript" src="common/MV.js"></script>
<script type="text/javascript" src="common/cube.js"></script>
<script type="text/javascript" src="common/sphere.js"></script>
<script type="text/javascript" src="common/cylinder.js"></script>
<script type="text/javascript" src="3d-object-modelling-industrial-automated-robotic-hand.js"></script>
<style>
body {
color: #000;
font-family:Tahoma;
font-size:13px;
font-weight: bold;
background-color: #000000;
background-image: url("imgs/JPGs/background.jpg");
}
#container {
position: absolute;
border-radius: 5px;
}
#workDescription {
background:#eeeeee;
position: absolute;
left: 960px; top: 8px;
padding:0;
margin:0;
overflow:hidden;
width: 600px;
border-radius: 5px;
text-align: center;
}
#authorsInfo {
background:#eeeeee;
position: absolute;
left: 960px; top: 248px;
padding:0;
margin:0;
overflow:hidden;
width: 600px;
border-radius: 5px;
text-align: center;
}
#instructions {
background:#eeeeee;
position: absolute;
left: 960px; top: 448px;
padding:0;
margin:0;
overflow:hidden;
width: 600px;
border-radius: 5px;
text-align: center;
}
#settings {
background:#eeeeee;
position: absolute;
left: 960px; top: 702px;
padding:0;
margin:0;
overflow:hidden;
width: 600px;
border-radius: 5px;
text-align: center;
}
a {
color: #35b0ab;
}
</style>
</head>
<body id ="mainbody">
<title>3D Object Modelling - Industrial Automated Robotic Hand</title>
<div id="container" style="display: inline-block">
<canvas id="gl-canvas" width="946" height="946" style="border-radius: 5px;"> Oops... your browser doesn't support the HTML5 canvas element"
</canvas>
</div>
<br/>
<br/>
<div id="workDescription">
<h2>
<a href="https://www.fct.unl.pt/en/education/course/integrated-master-computer-science">
Computer Science and Engineering
<br/>
Integrated Master
</a>
</h2>
<h3>
@ <a href="https://www.fct.unl.pt/en"><i>FCT NOVA | FCT/UNL
<br/>
(Faculty of Sciences and Technology of New University of Lisbon)</i></a>
</h3>
<h3>
<a href="http://www.unl.pt/guia/2018/fct/UNLGI_getUC?uc=8150">
Computer Graphics and Interfaces
</a>
<br/>
(2016/2017)
</h3>
<h4>
Lab Work 3
<br/>
(3D Object Modelling - Industrial Automated Robotic Hand)
</h4>
</div>
<div id="authorsInfo">
<h2>
Authors/Contributors
</h2>
<h3>
<u><i>Rúben André Barreiro</i></u>
</h3>
<h4>
no. 42648 (<a href="mailto:r.barreiro@campus.fct.unl.pt">r.barreiro@campus.fct.unl.pt</a>)
</h4>
<h3>
<u><i>Daniel Filipe Pimenta</i></u>
</h3>
<h4>
no. 45404 (<a href="mailto:d.pimenta@campus.fct.unl.pt">d.pimenta@campus.fct.unl.pt</a>)
</h4>
</div>
<div id="instructions">
<h2>
Instructions
</h2>
<font size="2">
- Use <i>'Q'</i> and <i>'W'</i> keys to rotate the <i>Robotic Hand</i>'s arm;
<br/>
- Use <i>'A'</i> and <i>'S'</i> keys to rotate the <i>Robotic Hand</i>'s upper joint;
<br/>
- Use <i>'Z'</i> and <i>'X'</i> keys to rotate the <i>Robotic Hand</i>'s lower joint;
<br/>
- Use <i>'O'</i> and <i>'P'</i> keys to move the <i>Robotic Hand</i>'s claws;
<br/>
- Use <i>'K'</i> and <i>'L'</i> keys to rotate the <i>Robotic Hand</i>;
<br/>
- Use <i>Left Arrow (←)</i> key to move the <i>Robotic Hand</i>'s base to the left;
<br/>
- Use <i>Right Arrow (→)</i> key to move the <i>Robotic Hand</i>'s base to the right;
<br/>
- Use <i>Up Arrow (↑)</i> key to move the <i>Robotic Hand</i>'s base forward;
<br/>
- Use <i>Down Arrow (↓)</i> key to move <i>Robotic Hand</i>'s base backward;
<br/>
- Choose the pretended <i>Angles Factors</i> (<i>Theta</i> and <i>Gamma</i> <i>Angles</i>)
<br/>
for adjust the settings for the <i>Axonometric Projection</i>;
<br/>
<br/>
</font>
</div>
<div id="settings">
<h2>
Settings/Adjustments
</h2>
<u><i>Axonometric Projection</i></u>
<br/>
<br/>
Gamma Angle
<br/>
<input id="gamma" type="range" min="0" max="90" step="1" value="19.4205368891236">
<br/>
Theta Angle
<br/>
<input id="theta" type="range" min="0" max="360" step="1" value="339.731932804673">
<br/>
<hr/>
<u><i>Render Mode</i></u>
<br/>
<br/>
<select id="render">
<option> Filled </option>
<option> Wire Frame </option>
</select>
<br/>
<br/>
</div>
</body>
</html>